Abstract

Methods for self-healing have been extensively studied in the context of modular, segmented systems. However, concepts of self-healing are not limited only to systems in which the constituent modules are identical. In order to quantify and study the characteristics of a system equipped with the ability to self-heal, a generalized system of metrics is required to take objective measurement of self-healing outcomes for both monolithic and segmented morphologies. This is required to generalize the concepts of self-healing across robotic systems with generic morphologies, and to provide inputs to risk analyses done in a trade study for the addition of self-healing capabilities. This paper proposes a general set of metrics to analyze healing capabilities and demonstrates the use of select metrics on two robotic systems of varying morphologies. Each system will demonstrate healing from an imposed failure, after which the …

Date

2026

Authors

Jaxson Hill, Griffin MacRae, Pierson Lintala, Noah Taniguchi, Joshua Pastizzo, Ethan Bootehsaz, Harrison Pearl, Charlene Yuen, David Samia, Le Duong, Tyler Rotello, Niccolo von Bueren, Wei-Min Shen, David Barnhart

Book

AIAA SCITECH 2026 Forum

Pages

2242